A goaf inspection robot

Abstract

A kind of goaf inspection robot, adopt snake shape structure, including several unit section modules, by several unit section modules head-to-tail combination is formed;Unit section module includes module skeleton, walking assembly and posture adjusting assembly;Walking assembly is arranged in the middle rear part of module skeleton;Posture adjusting assembly is arranged in the front part of module skeleton;Walking assembly includes walking drive motor, pulley transmission mechanism and track type walking mechanism;Module skeleton adopts rectangular frame type structure;Pulley transmission mechanism is arranged on the rear end wall plate of module skeleton;Track type walking mechanism is four groups, four groups of track type walking mechanism are evenly arranged on the four side vertical surfaces of module skeleton;Walking drive motor is transmissionally connected with track type walking mechanism by pulley transmission mechanism;Wireless communication module and power supply module are arranged in the inside of the module skeleton of each unit section module;Adjacent unit section modules are connected by electromagnetic quick connector, various sensors and camera are installed on the foremost unit section module.

Description

Technical Field

[0001] This invention belongs to the field of auxiliary machinery technology for coal mining, and in particular relates to a goaf inspection robot. Background Technology

[0002] After coal mining is completed, a goaf is left behind. If further mining is required, the goaf is usually reinforced appropriately, typically using anchor bolts and wooden piles to prevent collapse in the short term. If the goaf is not reinforced and backfilled, it will gradually collapse over time, causing ground subsidence and forming sinkholes on the surface. After mining, the relevant goaf roadways are sealed, which makes environmental monitoring within these roadways difficult. Furthermore, smoldering is prone to occur in goafs, making environmental monitoring essential. However, conventional monitoring methods cannot effectively penetrate deep into the goaf, leading to the failure to detect smoldering in a timely manner and potentially causing the spread of smoldering hazards. Summary of the Invention

[0003] To address the problems existing in the prior art, this invention provides a goaf inspection robot with an overall serpentine structure, which can effectively penetrate deep into the goaf of a coal mine and conduct comprehensive monitoring of the environment within the goaf. It can promptly detect smoldering in the goaf and provide technical support for the prevention and control of smoldering disasters.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a goaf inspection robot, which adopts a serpentine structure and includes several unit modules, which are connected end to end to form a combination of several unit modules; the unit module includes a module skeleton, a walking component and an attitude adjustment component; the walking component is located in the middle and rear part of the module skeleton; the attitude adjustment component is located in the front part of the module skeleton.

[0005] The walking assembly includes a walking drive motor, a pulley transmission mechanism, and a tracked walking mechanism; the module frame adopts a rectangular frame structure; the pulley transmission mechanism is set on the rear wall plate of the module frame; there are four sets of tracked walking mechanisms, which are evenly distributed on the four side facades of the module frame; the walking drive motor is connected to the tracked walking mechanism through the pulley transmission mechanism.

[0006] The pulley drive mechanism includes a driving pulley, a driven pulley, a reversing pulley, and a synchronous belt; the driving pulley is fixedly connected to the motor shaft of the walking drive motor; there are four driven pulleys, which are evenly distributed at the four corners of the rear wall panel of the module frame; there are several reversing pulleys, which are distributed around the driving pulley; the driving pulley, driven pulley, and reversing pulley are connected by a synchronous belt.

[0007] The tracked walking mechanism includes a driving roller, a driven roller, and a track; the driving roller is mounted on the module frame and adjacent to its rear end wall panel; there are several driven rollers, which are arranged sequentially and evenly on the side facade of the module frame; the driving roller and the driven roller are connected by a track drive.

[0008] A drive shaft is provided on the side elevation of the module frame. The drive shaft is adjacent to and parallel to the drive roller. A drive wheel is provided in the middle of the drive shaft. The drive wheel and the drive roller are connected by a drive belt. A drive bevel gear set is connected between the end of the drive shaft and the central axle of the driven wheel.

[0009] Side outer cover plates are fixedly installed on the four sides of the module frame; end outer cover plates are fixedly installed on the outer side of the rear wall panel of the module frame.

[0010] The attitude adjustment assembly includes a first attitude adjustment drive motor, a second attitude adjustment drive motor, a first belt and pulley mechanism, a second belt and pulley mechanism, and a bidirectional attitude adjustment structure. The first and second attitude adjustment drive motors are located inside the module frame and are fixedly connected to the front wall panel of the module frame. One end of the second attitude adjustment shaft is connected to the module frame via a first bracket, and the motor shaft of the second attitude adjustment motor is connected to the second attitude adjustment shaft via a second belt and pulley mechanism. The first attitude adjustment drive motor is connected to the bidirectional attitude adjustment structure via the first belt and pulley mechanism, and the second attitude adjustment drive motor is connected to the bidirectional attitude adjustment structure via the second belt and pulley mechanism.

[0011] The bidirectional attitude adjustment structure includes a first bracket, a first attitude adjustment shaft, a second attitude adjustment shaft, a first attitude adjustment bevel gear, and a second attitude adjustment bevel gear. The first bracket is located outside the module frame and is fixedly connected to the front wall panel of the module frame. One end of the first attitude adjustment shaft is connected to the module frame through the first bracket, and the first attitude adjustment shaft has a rotational degree of freedom relative to the first bracket. The first belt pulley mechanism is connected between the motor shaft of the first attitude adjustment drive motor and the first attitude adjustment shaft, and the first attitude adjustment bevel gear is installed at the other end of the first attitude adjustment shaft. One end of the second attitude adjustment shaft is connected to the module frame through the first bracket, and the second belt pulley mechanism is connected between the motor shaft of the second drive attitude adjustment motor and the second attitude adjustment shaft, and the second attitude adjustment bevel gear is installed at the other end of the second attitude adjustment shaft. The first attitude adjustment shaft, the second attitude adjustment shaft, the first attitude adjustment bevel gear, and the second attitude adjustment bevel gear are coaxially distributed, and the small diameter ends of the first attitude adjustment bevel gear and the second attitude adjustment bevel gear face each other.

[0012] The bidirectional attitude adjustment structure also includes a second bracket, a third attitude adjustment shaft, a third attitude adjustment bevel gear, and a fourth attitude adjustment bevel gear. The third attitude adjustment shaft is fixedly connected to the second bracket and is perpendicular to the first and second attitude adjustment shafts. The first and second attitude adjustment bevel gears are mirror-symmetrically distributed on the left and right sides of the third attitude adjustment shaft. The third attitude adjustment bevel gear is fixedly installed on the upper end of the third attitude adjustment shaft, and the fourth attitude adjustment bevel gear is installed on the lower end of the third attitude adjustment shaft. The fourth attitude adjustment bevel gear has a degree of rotational freedom relative to the third attitude adjustment shaft, and the small diameter ends of the third and fourth attitude adjustment bevel gears face each other. The third attitude adjustment bevel gear meshes with the first and second attitude adjustment bevel gears simultaneously. The fourth attitude adjustment bevel gear meshes with the first and second attitude adjustment bevel gears simultaneously.

[0013] Each unit module has a wireless communication module and a power supply module inside its module frame; an electromagnetic quick connector is provided between the second bracket and the end cover plate on the module frame of the adjacent unit module, and the adjacent unit modules are connected by the electromagnetic quick connector; various sensors and cameras are installed on the second bracket of the unit module located at the front end.

[0014] The beneficial effects of this invention are:

[0015] The goaf inspection robot of this invention adopts a serpentine structure, which can effectively penetrate into the goaf of a coal mine and conduct comprehensive monitoring of the environment within the goaf. It can promptly detect smoldering in the goaf and provide technical support for the prevention and control of smoldering disasters. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a goaf inspection robot according to the present invention;

[0017] Figure 2 This is a structural schematic diagram of the unit section module of the present invention (tracks, side outer covers and end outer covers are not shown);

[0018] Figure 3 This is a structural schematic diagram of the unit section module of the present invention (module skeleton and first support are not shown);

[0019] Figure 4 This is a schematic diagram of the structure of the present invention when only two unit section modules are connected;

[0020] In the diagram, A—unit module, 1—module skeleton, 2—walking drive motor, 3—drive wheel, 4—driven wheel, 5—reversing wheel, 6—synchronous belt, 7—drive roller wheel, 8—driven roller wheel, 9—track, 10—drive shaft, 11—drive wheel, 12—drive belt, 13—drive bevel gear set, 14—side outer cover plate, 15—end outer cover plate, 16—first attitude adjustment drive motor, 17—second attitude adjustment drive motor, 18—first belt and pulley mechanism, 19—second belt and pulley mechanism, 20—first bracket, 21—second bracket, 22—first attitude adjustment shaft, 23—third attitude adjustment shaft, 24—first attitude adjustment bevel gear, 25—third attitude adjustment bevel gear, 26—fourth attitude adjustment bevel gear. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1-4 As shown, a goaf inspection robot adopts a serpentine structure and includes several unit modules A, which are connected end to end to form a combination. Each unit module A includes a module skeleton 1, a walking component, and an attitude adjustment component. The walking component is located in the middle and rear part of the module skeleton 1, and the attitude adjustment component is located in the front part of the module skeleton 1.

[0023] The walking assembly includes a walking drive motor 2, a pulley transmission mechanism, and a tracked walking mechanism; the module frame 1 adopts a rectangular frame structure; the pulley transmission mechanism is set on the rear wall plate of the module frame 1; there are four sets of tracked walking mechanisms, which are evenly distributed on the four side facades of the module frame 1; the walking drive motor 2 is connected to the tracked walking mechanism through the pulley transmission mechanism.

[0024] The pulley transmission mechanism includes a driving pulley 3, a driven pulley 4, a reversing pulley 5, and a synchronous belt 6; the driving pulley 3 is fixedly connected to the motor shaft of the walking drive motor 2; there are four driven pulleys 4, which are evenly distributed at the four corners of the rear wall panel of the module frame 1; there are several reversing pulleys 5, which are distributed around the driving pulley 3; the driving pulley 3, the driven pulley 4, and the reversing pulley 5 are connected by a synchronous belt 6.

[0025] The tracked walking mechanism includes a driving roller 7, a driven roller 8, and a track 9; the driving roller 7 is mounted on the module frame 1 and is adjacent to its rear end wall panel; there are several driven rollers 8, which are arranged sequentially and evenly on the side facade of the module frame 1 along with the driving roller 7; the driving roller 7 and the driven roller 8 are connected by the track 9.

[0026] A drive shaft 10 is provided on the side elevation of the module frame 1. The drive shaft 10 is adjacent to the drive roller 7 and parallel to the drive roller 7. A drive wheel 11 is provided in the middle of the drive shaft 10. The drive wheel 11 and the drive roller 7 are connected by a drive belt 12. A drive bevel gear set 13 is connected between the end of the drive shaft 10 and the central wheel axle of the driven wheel 4.

[0027] Side outer cover plates 14 are fixedly installed on the four sides of the module frame 1; end outer cover plates 15 are fixedly installed on the outer side of the rear wall panel of the module frame 1.

[0028] The attitude adjustment assembly includes a first attitude adjustment drive motor 16, a second attitude adjustment drive motor 17, a first belt and pulley mechanism 18, a second belt and pulley mechanism 19, and a bidirectional attitude adjustment structure. The first attitude adjustment drive motor 16 and the second attitude adjustment motor 17 are located inside the module frame 1, and are fixedly connected to the front wall panel of the module frame 1. One end of the second attitude adjustment shaft is connected to the module frame 1 via a first bracket 20, and the motor shaft of the second attitude adjustment motor 17 is connected to the second attitude adjustment shaft via the second belt and pulley mechanism 19. The first attitude adjustment drive motor 16 is connected to the bidirectional attitude adjustment structure via the first belt and pulley mechanism 18, and the second attitude adjustment motor 17 is connected to the bidirectional attitude adjustment structure via the second belt and pulley mechanism 19.

[0029] The bidirectional attitude adjustment structure includes a first bracket 20, a first attitude adjustment shaft 22, a second attitude adjustment shaft, a first attitude adjustment bevel gear 24, and a second attitude adjustment bevel gear. The first bracket 20 is located outside the module frame 1 and is fixedly connected to the front wall panel of the module frame 1. One end of the first attitude adjustment shaft 22 is connected to the module frame 1 through the first bracket 20, and the first attitude adjustment shaft 22 has a rotational degree of freedom relative to the first bracket 20. The first belt pulley mechanism 18 is connected to the motor shaft of the first attitude adjustment drive motor 16 and the first attitude adjustment shaft. Between shafts 22, the first attitude adjustment bevel gear is installed at the other end of the first attitude adjustment rotating shaft 22; one end of the second attitude adjustment rotating shaft is connected to the module frame 1 through the first bracket 20, the second belt pulley mechanism 19 is connected between the motor shaft of the second drive attitude adjustment motor 17 and the second attitude adjustment rotating shaft, and the second attitude adjustment bevel gear is installed at the other end of the second attitude adjustment rotating shaft; the first attitude adjustment rotating shaft 22, the second attitude adjustment rotating shaft, the first attitude adjustment bevel gear 24 and the second attitude adjustment bevel gear are coaxially distributed, and the small diameter ends of the first attitude adjustment bevel gear 24 and the second attitude adjustment bevel gear are directly opposite each other.

[0030] The bidirectional attitude adjustment structure also includes a second bracket 21, a third attitude adjustment shaft 23, a third attitude adjustment bevel gear 25, and a fourth attitude adjustment bevel gear 26. The third attitude adjustment shaft 23 is fixedly connected to the second bracket 21 and is perpendicular to the first attitude adjustment shaft 22 and the second attitude adjustment shaft. The first attitude adjustment bevel gear 24 and the second attitude adjustment bevel gear are mirror-symmetrically distributed on the left and right sides of the third attitude adjustment shaft 23. The third attitude adjustment bevel gear 25 is fixedly installed on the upper end of the third attitude adjustment shaft 23, and the fourth attitude adjustment bevel gear 26 is installed on the lower end of the third attitude adjustment shaft 23. The fourth attitude adjustment bevel gear 26 has a rotational degree of freedom relative to the third attitude adjustment shaft 23, and the small diameter ends of the third attitude adjustment bevel gear 25 and the fourth attitude adjustment bevel gear 26 are directly opposite each other. The third attitude adjustment bevel gear 25 meshes with the first attitude adjustment bevel gear 24 and the second attitude adjustment bevel gear simultaneously. The fourth attitude adjustment bevel gear 26 meshes with the first attitude adjustment bevel gear 24 and the second attitude adjustment bevel gear simultaneously.

[0031] A wireless communication module and a power supply module are provided inside the module skeleton 1 of each unit module A; an electromagnetic quick connector is provided between the second bracket 21 and the end cover plate 15 on the module skeleton 1 of the adjacent unit module A, and the adjacent unit modules A are connected by the electromagnetic quick connector; various sensors and cameras are installed on the second bracket 21 of the unit module A located at the front end.

[0032] The following describes a single use of the present invention with reference to the accompanying drawings:

[0033] When the robot needs to move, the walking drive motor 2 is started first. The walking drive motor 2 drives the drive wheel 3 to rotate. The rotating drive wheel 3 drives the four driven wheels 4 to rotate synchronously through the synchronous belt 6. As the axle of the driven wheels 4 rotates, it drives the transmission shaft 10 and the transmission wheel 11 on it to rotate through the transmission bevel gear set 13. The transmission wheel 11 then drives the drive roller wheel 7 to rotate through the transmission belt 12. Finally, the drive roller wheel 7 drives the track 9 to rotate, so as to realize the robot's walking movement.

[0034] When the robot needs to change its direction of travel, taking two adjacent unit modules A as an example, if the front unit module needs to perform a pitching motion, the first attitude adjustment drive motor 16 and the second attitude adjustment drive motor 17 are activated simultaneously. The first attitude adjustment drive motor 16 drives the first attitude adjustment shaft 22 and the first attitude adjustment bevel gear 24 to rotate via the first belt and pulley mechanism 18. The second attitude adjustment drive motor 17 drives the second attitude adjustment shaft and the second attitude adjustment bevel gear 24 to rotate via the second belt and pulley mechanism 19. At this time, the first attitude adjustment bevel gear... Gear 24 and the second attitude adjustment bevel gear can rotate synchronously in the same direction. However, the third attitude adjustment bevel gear 25 and the fourth attitude adjustment bevel gear 26, which mesh with the first attitude adjustment bevel gear 24 and the second attitude adjustment bevel gear, cannot rotate relative to each other. They can only follow the rotation direction of the first attitude adjustment bevel gear 24 and the second attitude adjustment bevel gear. The third attitude adjustment shaft 23 is equivalent to oscillating relative to the first attitude adjustment shaft 22 and the second attitude adjustment shaft, and drives the second support 21 to pitch, which in turn drives the front unit module to pitch.

[0035] Similarly, if the front unit module needs to swing left and right, the first attitude adjustment drive motor 16 and the second attitude adjustment drive motor 17 are started in opposite directions simultaneously. The first attitude adjustment drive motor 16 drives the first attitude adjustment shaft 22 and the first attitude adjustment bevel gear 24 to rotate forward through the first belt pulley mechanism 18, and the second attitude adjustment drive motor 17 drives the second attitude adjustment shaft and the second attitude adjustment bevel gear to rotate in the opposite direction through the second belt pulley mechanism 19. At this time, the first attitude adjustment bevel gear 24 and the second attitude adjustment bevel gear can rotate in opposite directions, and the third attitude adjustment bevel gear 25, which meshes with the first attitude adjustment bevel gear 24 and the second attitude adjustment bevel gear, will be driven to rotate. The rotating third attitude adjustment bevel gear 25 will drive the third attitude adjustment shaft 23 to rotate synchronously, thereby driving the second bracket 21 to swing left and right. The fourth attitude adjustment bevel gear 26, which meshes with the first attitude adjustment bevel gear 24 and the second attitude adjustment bevel gear, will rotate freely on the third attitude adjustment shaft 23.

[0036] When the robot's detection distance is too far, the communication signal between the robot and the ground communication station will weaken. In order to extend the robot's detection distance, the last unit module A can be disconnected from the tail of the robot and used as a signal repeater. When disconnecting the last unit module, it is only necessary to control the electromagnetic quick connector at the connection node to disconnect.

[0037] The solutions described in the embodiments are not intended to limit the scope of patent protection of this invention. All equivalent implementations or modifications that do not depart from the scope of this invention are included in the patent scope of this case.

Claims

1. A gob inspection robot, characterized in that: The module comprises a module framework, a walking assembly and an attitude adjusting assembly; the walking assembly is arranged at the middle rear part of the module framework; the attitude adjusting assembly is arranged at the front part of the module framework; The walking assembly comprises a walking driving motor, a belt wheel transmission mechanism and a caterpillar walking mechanism; the module framework adopts a rectangular frame structure; the belt wheel transmission mechanism is arranged on the rear end wall plate of the module framework; the caterpillar walking mechanism is in four groups, and the four groups of caterpillar walking mechanisms are evenly arranged on the four side vertical surfaces of the module framework; the walking driving motor is in transmission connection with the caterpillar walking mechanism through the belt wheel transmission mechanism; The attitude adjusting assembly comprises a first attitude adjusting driving motor, a second driving attitude adjusting motor, a first belt wheel mechanism, a second belt wheel mechanism and a bidirectional attitude adjusting structural member; the first attitude adjusting driving motor and the second driving attitude adjusting motor are located inside the module framework, and are fixedly connected on the front end wall plate of the module framework; the first attitude adjusting driving motor is in transmission connection with the bidirectional attitude adjusting structural member through the first belt wheel mechanism; the second driving attitude adjusting motor is in transmission connection with the bidirectional attitude adjusting structural member through the second belt wheel mechanism; The bidirectional attitude adjusting structural member comprises a first support, a first attitude adjusting rotating shaft, a second attitude adjusting rotating shaft, a first attitude adjusting bevel gear and a second attitude adjusting bevel gear; the first support is located outside the module framework, and is fixedly connected on the front end wall plate of the module framework; one end of the first attitude adjusting rotating shaft is connected with the module framework through the first support, and the first attitude adjusting rotating shaft has a rotary degree of freedom relative to the first support; the first belt wheel mechanism is connected between the motor shaft of the first attitude adjusting driving motor and the first attitude adjusting rotating shaft; the first attitude adjusting bevel gear is installed on the other end of the first attitude adjusting rotating shaft; one end of the second attitude adjusting rotating shaft is connected with the module framework through the first support; the second belt wheel mechanism is connected between the motor shaft of the second driving attitude adjusting motor and the second attitude adjusting rotating shaft; the second attitude adjusting bevel gear is installed on the other end of the second attitude adjusting rotating shaft; the first attitude adjusting rotating shaft, the second attitude adjusting rotating shaft, the first attitude adjusting bevel gear and the second attitude adjusting bevel gear are coaxially distributed, and the small-diameter ends of the first attitude adjusting bevel gear and the second attitude adjusting bevel gear are opposite to each other. The bidirectional posture adjusting structure further comprises a second support, a third posture adjusting rotating shaft, a third posture adjusting bevel gear and a fourth posture adjusting bevel gear; the third posture adjusting rotating shaft is fixedly connected to the second support, and the third posture adjusting rotating shaft is perpendicular to the first posture adjusting rotating shaft and the second posture adjusting rotating shaft; the first posture adjusting bevel gear and the second posture adjusting bevel gear are symmetrically distributed on the left and right sides of the third posture adjusting rotating shaft; the third posture adjusting bevel gear is fixedly installed on the upper end of the third posture adjusting rotating shaft, and the fourth posture adjusting bevel gear is installed on the lower end of the third posture adjusting rotating shaft; the fourth posture adjusting bevel gear has a rotational degree of freedom relative to the third posture adjusting rotating shaft, and the small-diameter ends of the third posture adjusting bevel gear and the fourth posture adjusting bevel gear are opposite to each other; the third posture adjusting bevel gear is simultaneously engaged with the first posture adjusting bevel gear and the second posture adjusting bevel gear; and the fourth posture adjusting bevel gear is simultaneously engaged with the first posture adjusting bevel gear and the second posture adjusting bevel gear.

2. The goaf inspection robot according to claim 1, characterized in that: The belt wheel transmission mechanism comprises a driving wheel, driven wheels, a reversing wheel and a synchronous belt; the driving wheel is fixedly connected to the motor shaft of the walking driving motor; the driven wheels are four in number and are uniformly distributed at the four corner points of the rear end wall plate of the module framework; the reversing wheels are several in number and are distributed around the driving wheel; and the driving wheel, the driven wheels and the reversing wheels are drivingly connected by the synchronous belt.

3. The gob inspection robot of claim 1, wherein: The crawler walking mechanism comprises a driving drum wheel, driven drum wheels and a crawler belt; the driving drum wheel is arranged on the module framework and adjacent to the rear end wall plate thereof; the driven drum wheels are several in number and are sequentially arranged and uniformly distributed on the side vertical surface of the module framework; and the driving drum wheel and the driven drum wheels are drivingly connected by the crawler belt.

4. The gob inspection robot of claim 3, wherein: A transmission shaft is arranged on the side vertical surface of the module framework, the transmission shaft is adjacent to the driving drum wheel and parallel to the driving drum wheel; a transmission wheel is arranged at the middle part of the transmission shaft and drivingly connected to the driving drum wheel by a transmission belt; and a transmission bevel gear set is connected between the end part of the transmission shaft and the central wheel shaft of the driven wheel.

5. The gob inspection robot of claim 1, wherein: An edge cover plate is fixedly arranged at each of the four side edges of the module framework; and an end cover plate is fixedly arranged outside the rear end wall plate of the module framework.

6. The gob inspection robot of claim 5, wherein: A wireless communication module and a power supply module are arranged inside the module framework of each unit module; an electromagnetic quick connector is arranged between the second support and the end cover plate of the module framework of an adjacent unit module, and the adjacent unit modules are connected by the electromagnetic quick connector; various sensors and cameras are arranged on the second support of the unit module at the front end.

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